Point2d target
float32 target_ori
float32 target_w
Point2d target_vel
float32 maxvel
float32 maxw
Point2d robot_pos
Point2d robot_vel
float32 robot_ori
float32 robot_w
char    move_action
char    rotate_acton
int32   rotate_mode
int64   handle_enable
float32 strength
int64   shootPos
